#pragma once
#include "rtk_planning_core.h"
#include "ros/ros.h"
#include "auto_msgs/localizition.h"
#include "string"
class RtkPlanningNode
{
    public:
        RtkPlanningNode()=delete;
        RtkPlanningNode(const std::string filename,double loop_rate);
        void CBLocalizition(const auto_msgs::localizition &msg);
        void LoopProc(const std::vector<double> current_position2d);
        void LoopProc();
        
        ros::NodeHandle nh_;
        ros::Publisher planing_pub_;
        ros::Subscriber localizition_sub =
            nh_.subscribe("localizition", 3,&RtkPlanningNode::CBLocalizition,this);
        RtkPlanningCore rtk_planning_core_;
        ros::Rate loop_rate_;
    private:
        std::vector<double> current_position2d_{0,0};      

};
